Systems and methods for bagging cannulate objects such as carrots

ABSTRACT

Automated bagging of cannulate objects comprises arranging a plurality of cannulate objects to be substantially longitudinally parallel with one another, opening a mouth of a bag so that the sidewalls of the bag are spaced from one another at the mouth of the bag, and forming a longitudinally-extending externally supported constriction between the mouth of the bag and the bottom of the bag. The externally supported constriction is narrower than the open mouth of the bag and the cannulate objects remain confined above the constriction. The cannulate objects are fed into the mouth of the bag, longitudinally parallel with the constriction, and, while feeding the plurality of cannulate objects into the mouth of the bag, the constriction is lowered toward the bottom of the bag, whereby the cannulate objects remain substantially longitudinally parallel with one another in the bag.

CROSS-REFERENCE TO RELATED APPLICATION

This application claims priority to U.S. Provisional Application No. 62/468,268 filed on Mar. 7, 2017, the teachings of which are hereby incorporated by reference.

TECHNICAL FIELD

The present invention relates to bagging of materials, and more particularly to the bagging of cannulate objects such as carrots and objects of similar shape.

BACKGROUND

Jumbo carrots can be quite large, often growing up to sixteen inches or more. Due to their shape, such carrots cannot simply be haphazardly dropped into a plastic bag because the pointy ends of the carrots may rupture the plastic material, and “jumbled” bags of carrots are difficult to stably stack on pallets. To obviate these issues, the carrots must be arranged so that they are substantially longitudinally parallel with one another inside the bag. As a result, bagging of such carrots has traditionally been a labor-intensive manual process.

SUMMARY

The present disclosure describes systems and methods for automating the process of filling a bag with cannulate objects, such as jumbo carrots, while maintaining the cannulate objects in longitudinal alignment.

In one aspect, a method for automated bagging of cannulate objects comprises arranging a plurality of cannulate objects to be substantially longitudinally parallel with one another, opening a mouth of a bag having opposed sidewalls and maintaining the mouth in an open configuration in which the sidewalls are spaced from one another at the mouth of the bag, tapering the bag toward the bottom thereof by converging the sidewalls of the bag to form a longitudinally-extending externally supported constriction disposed between the mouth of the bag and the bottom of the bag, wherein the externally supported constriction is narrower than the open mouth of the bag and the cannulate objects remain confined above the constriction, feeding the plurality of cannulate objects into the mouth of the bag, wherein the cannulate objects are fed into the mouth of the bag longitudinally parallel with the constriction, and, while feeding the plurality of cannulate objects into the mouth of the bag, lowering the constriction toward the bottom of the bag, whereby the cannulate objects remain substantially longitudinally parallel with one another in the bag.

The method may further comprise, after filling the bag to a predetermined quantity of cannulate objects, releasing the sidewall to remove the constriction. The method may yet further comprise, after releasing the sidewall to remove the constriction, closing the mouth of the bag.

The method may further comprise accumulating the cannulate objects above the bag while opening the mouth of the bag.

In another aspect, a method for arranging a plurality of cannulate objects to be substantially longitudinally parallel with one another comprises depositing the cannulate objects onto an ascending conveyor belt which has a plurality of spaced-apart, widthwise-extending flights and shaking the conveyor belt while the conveyor belt ascends so that the cannulate objects are supported lengthwise by the flights. The method may further comprise arresting falling cannulate objects that surmount the flights.

In yet another aspect, a method for automated bagging of cannulate objects comprises arranging a plurality of cannulate objects to be substantially longitudinally parallel with one another, opening a mouth of a bag, feeding the plurality of cannulate objects into the mouth of the bag, wherein the cannulate objects are fed into the mouth of the bag substantially longitudinally parallel with one another, externally of the bag, supporting the cannulate objects inside the bag between the mouth of the bag and a bottom of the bag to limit fall travel of the cannulate objects within the bag and thereby maintain the cannulate objects substantially longitudinally parallel with one another inside the bag.

In one implementation, supporting the cannulate objects inside the bag comprises supporting the cannulate objects progressively further distally from the mouth of the bag as more cannulate objects are fed into the bag.

The method may further comprise withdrawing support from the cannulate objects after a predetermined quantity of cannulate objects have been fed into the bag.

In a still further aspect, apparatus for automated bagging of cannulate objects comprises a frame, a bag support carried by the frame and adapted to maintain a bag in an upright configuration, a bag opening mechanism carried by the frame and adapted to open a mouth of the bag and maintain the mouth of the bag in an open configuration and a support mechanism carried by the frame. The support mechanism is movable between an external supporting configuration forming a support platform, externally of the bag, between the mouth of the bag and a bottom of the bag, and a release configuration in which the support platform is withdrawn. The support platform is adapted to support cannulate objects within the bag when the support mechanism is in the external supporting configuration.

In some embodiments, the support mechanism is vertically movable relative to the frame toward and away from the bag opening mechanism while in the external supporting configuration.

The support mechanism may comprise a support gate formed by opposed ramps that are movable toward and away from one another. In such embodiments, the opposed ramps may be movable toward and away from one another by pivoting the opposed ramps to converge distal ends of the ramps toward and diverge distal ends of the ramps away from one another. In particular embodiments, when the support mechanism is in the external supporting configuration, the ramps decline from pivot ends thereof to the distal ends thereof.

The apparatus may further comprise an accumulator.

The accumulator may comprise an accumulator hopper disposed above the bag opening mechanism to be in registration with the open mouth of the bag, and an accumulator gate disposed between the accumulator hopper and the open mouth of the bag. The accumulator gate may be movable between an open configuration in which the cannulate objects can fall from the accumulator hopper to the open mouth of the bag and a closed configuration in which the cannulate objects are retained inside the accumulator hopper.

The apparatus may further comprise an endless-loop conveyor belt ascending to communicate with the accumulator hopper, a drive mechanism coupled to the conveyor belt and adapted to drive the conveyor belt, confining sidewalls extending along sides of the conveyor belt, with the conveyor belt having a plurality of spaced-apart, widthwise-extending flights, and an agitator mechanism mechanically coupled to the conveyor belt and adapted to shake the conveyor belt while the conveyor belt ascends so that the cannulate objects are supported lengthwise by the flights.

The apparatus may further comprise arrestor flaps extending between the confining sidewalls and depending beyond the flights on the conveyor belt, with the arrestor flaps being adapted to permit ascending passage of the flights therepast and arrest cannulate objects that surmount the flights.

The apparatus may also comprise ascendingly inwardly tapered guide ramps disposed on inner surfaces of the confining sidewalls.

The apparatus may further comprise one or more bags to be filled with cannulate objects.

In each case, the cannulate objects may be carrots.

BRIEF DESCRIPTION OF THE DRAWINGS

These and other features of the invention will become more apparent from the following description in which reference is made to the appended drawings wherein:

FIGS. 1A to 1F show a schematic representation of an exemplary apparatus for automatically bagging cannulate objects implementing an exemplary method for bagging cannulate objects;

FIG. 2 is a top perspective view of an exemplary apparatus for bagging cannulate objects, shown from a first angle;

FIG. 3 is a top perspective view of the apparatus of FIG. 2, shown from a second angle;

FIG. 4 is a top perspective view of the apparatus of FIG. 2, shown from a third angle;

FIG. 5 is a top plan view of the apparatus of FIG. 2;

FIG. 6 is a cut-away perspective view of the apparatus of FIG. 2 exposing a bag opening arm assembly and gripper assembly thereof;

FIG. 6A is a perspective view of the bag opening arm assembly of FIG. 6;

FIG. 6B is a perspective view of the gripper assembly of FIG. 6;

FIG. 7 is a first side elevation view of the apparatus of FIG. 2;

FIG. 8 is a cross-sectional view of the apparatus of FIG. 2, taken along the line B-B in FIG. 7;

FIG. 9 is a first cut-away perspective view of the apparatus of FIG. 2 exposing portions of a support mechanism and accumulator thereof;

FIG. 10 is a second cut-away perspective view of the apparatus of FIG. 2 exposing portions of the support mechanism and accumulator;

FIG. 11 is a rear elevation view of the apparatus of FIG. 2 with a rear panel removed;

FIG. 12 is a first cut-away perspective view of the apparatus of FIG. 2 taken through a supply conveyor thereof and also exposing portions of the support mechanism and accumulator;

FIG. 13 is a second cut-away perspective view of the apparatus of FIG. 2 taken through the supply conveyor and also exposing portions of the support mechanism and accumulator;

FIG. 14 is a cross-sectional view of the apparatus of FIG. 2 opposite the view shown in FIG. 8;

FIG. 15 is a front elevation view of the apparatus of FIG. 2;

FIG. 16 is a cross-sectional view of the apparatus of FIG. 2, taken along the line E-E in FIG. 15;

FIG. 17 is a cross-sectional view of the apparatus of FIG. 2, taken along the line F-F in FIG. 15; and

FIG. 18 is a cross-sectional view of the apparatus of FIG. 2, taken along the line C-C in FIG. 15.

DETAILED DESCRIPTION

Broadly speaking, the present disclosure describes methods, systems and apparatus for automated bagging of cannulate objects. While the present description uses carrots for purposes of illustration, carrots represent merely one example of the type of object with which the presently described methods and apparatus may be used. The methods and apparatus described herein may be used for the bagging of any generally cannulate object for which it is desired that the objects be arranged substantially longitudinally parallel with one another. For example, and without limitation, the methods and apparatus can be used for bagging parsnips, sticks, writing instruments such as markers, pens and pencils, and so on.

Reference is now made to FIGS. 1A to 1F which show, schematically, an aspect of the present disclosure with respect to a schematic representation of an apparatus for automatically bagging carrots, indicated generally at reference 100.

According to an exemplary implementation of a method for automatically bagging carrots, a plurality of carrots 102 are arranged to be substantially longitudinally parallel with one another. In one exemplary implementation as shown in FIGS. 1A to 1F, this is achieved by depositing the carrots 102 onto an ascending conveyor belt 104 having a plurality of spaced-apart, widthwise-extending flights 106 and shaking (e.g. vibrating) the conveyor belt 104 while the conveyor belt 104 ascends so that the carrots 102 are supported lengthwise by the flights 106. As can be seen in the Figures, the term “supported lengthwise by the flights” means that the longitudinal axes of the carrots 102 extend substantially parallel to the flights 106. Optionally, in addition to the shaking of the conveyor belt 104, physical guides may be provided to guide the carrots 102 into a position where the carrots are supported lengthwise by the flights 106, and falling carrots 102 that surmount the flights 106 may be arrested. An exemplary apparatus for implementing the above procedure is described below.

As can be seen in FIG. 1A, the carrots 102 are fed by the conveyor belt 104 into an accumulator 108, which includes an accumulator hopper 110 having accumulator gate 114. The carrots 102 may be weighed and delivered to the conveyor belt 104 in batches of known weight. The accumulator hopper 110 is disposed above a bag opening mechanism (not shown in FIGS. 1A to 1F) so as to be in registration with the open mouth 118 of a bag 120 when opened by the bag opening mechanism. The accumulator gate 114 is disposed between the accumulator hopper 110 and the open mouth 118 of the bag 120 to control feeding of carrots 102 into the bag 120. The accumulator gate 114 is movable between a closed configuration in which the carrots 102 are retained inside the accumulator hopper 110, as shown in FIGS. 1A and 1F, and an open configuration in which the carrots 102 can fall from the accumulator hopper 110 to the open mouth 118 of the bag 120, as shown in FIGS. 1B to 1E. In the exemplary embodiment, the accumulator gate 114 is formed by two pivoting doors 122 which can each pivot between a closed position (FIGS. 1A and 1F) and an open position (FIGS. 1B to 1E).

Carrots 102 from the conveyor belt 104 are fed into the accumulator 108 while the accumulator gate 114 is closed. This permits the carrots 102 to be accumulated in the accumulator hopper 110 above the bag 120 while the bag opening mechanism opens the mouth 118 of the bag 120, so as to avoid a reduction in throughput during the bag opening procedure. The bag 120 may be, for example, a side-seam bag or other suitable bag having opposed sidewalls 138 (a tubular bag is still considered to have opposed sidewalls); the bag opening mechanism opens the mouth 118 and maintains the mouth 118 in an open configuration in which the sidewalls 138 are spaced from one another at the mouth 118 of the bag 120, as shown. As noted above the carrots 102 are arranged by the conveyor system to be substantially longitudinally parallel with one another, and arrive at the open top of the accumulator hopper 110 in this longitudinally parallel condition. Because the accumulator gate 114 is closed, the distance that the carrots 102 can fall is limited, which assists in maintaining the carrots 102 in the longitudinally parallel condition. Moreover, and without being limited by theory, when the accumulator gate 114 is closed, the doors 122 thereof taper downwardly toward a central nadir 124, and this shape is also believed to assist in maintaining the carrots 102 in the longitudinally parallel condition.

Once the mouth 118 of the bag 120 is open, the accumulator gate 114 can be opened and the accumulated carrots 102 can then be fed into the mouth 118 of the bag 120, with the carrots 102 remaining substantially longitudinally parallel with one another, as shown in FIG. 1B. Importantly, as can be seen in FIG. 1B, the carrots 102 are supported inside the bag 120 between the mouth 118 of the bag 120 and the bottom 126 of the bag 120 to limit fall travel of the carrots 102 within the bag 120; the drop distance of the carrots 102 within the bag is substantially less than the height of the bag. Preferably, the drop distance is less than half the height of the bag, more preferably less than one third the height of the bag and still more preferably less than one quarter the height of the bag. Without being restricted by theory, limiting fall travel of the carrots 102 within the bag 120 is believed to assist in maintaining the carrots 102 substantially longitudinally parallel with one another inside the bag 120. Also importantly, the support for the carrots 102 is provided externally of the bag 120. In one exemplary embodiment, an exemplary implementation of which will be described further below, support is provided by a support mechanism 128 comprising opposed ramps 130 that pivot toward and away from one another. By pivoting the opposed ramps 130 to converge distal ends 132 of the ramps 130 (i.e. distal from the respective pivot axis) toward one another, the support mechanism 128 can be moved into an external supporting configuration forming a support platform 134, externally of the bag 120, between the mouth 118 of the bag and the bottom 126 of the bag 120 (FIGS. 1A to 1E). By pivoting the opposed ramps 130 to diverge the distal ends 132 of the ramps 130 away from one another, the support mechanism 128 can be moved into a release configuration in which the support platform 134 is withdrawn (FIG. 1F). As shown in FIG. 1A, the support mechanism 128 may be moved into its uppermost position, inferiorly of the accumulator gate 114, in the external supporting configuration, after the mouth 118 of the bag 120 is opened but before the accumulator gate 114 is opened to feed the carrots 102 into the mouth 118 of the bag 120.

The support platform 134 is adapted to support the carrots 102 within the bag 120 when the support mechanism 128 is in the external supporting configuration. As can be seen in FIGS. 1A to 1E, when the support mechanism 128 is in the external supporting configuration, the ramps 130 decline from the pivot ends 136 thereof to the distal ends 132 thereof. This has the effect of tapering the bag 120 toward the bottom 126 thereof by converging the sidewalls 138 of the bag 120 to form a longitudinally-extending externally supported constriction 140 disposed between the mouth 118 of the bag 120 and the bottom 126 of the bag 120. The externally supported constriction 140, which is formed by the support platform 134, is substantially narrower than the mouth 118 of the bag 120 and the carrots 102 remain confined above the constriction 140 even though there is space between the distal ends 132 of the ramps 130. The carrots 102 are fed into the mouth 118 of the bag 120 substantially longitudinally parallel with the constriction 140.

As noted above, it is believed (without being restricted by theory) that limiting fall travel of the carrots 102 within the bag 120 assists in maintaining the carrots 102 substantially longitudinally parallel with one another inside the bag 120. As such, as can be seen in FIG. 1B, when the accumulator gate 114 is first opened to feed the accumulated carrots 102 into the mouth 118 of the (empty) bag 120, the support mechanism 128 is initially positioned close to the mouth 118 of the bag 120 and therefore close to the accumulator gate 114. Thus, the carrots 102 fall only a short distance before they reach the support provided by the support platform 134 formed by the ramps 130, inhibiting the carrots 102 from moving out of longitudinal alignment with one another.

In the illustrated embodiment, the support mechanism 128 is vertically movable while in the external supporting configuration. As the carrots 102 continue to arrive from the conveyor belt 104 and pass through the accumulator hopper 110 and accumulator gate 114 into the mouth 118 of the bag 120, the support mechanism 128 can be moved downwardly to accommodate the additional carrots 102 while continuing to support the carrots 102 already inside the bag 120. Accordingly, while feeding the plurality of carrots 102 into the mouth 118 of the bag 120, the externally supported constriction 140 is lowered toward the bottom of the bag 120. The incoming carrots 102 will fall only a short distance before reaching the upper layer of the carrots 102 in the bag, which are supported by the support mechanism 128. Thus, the carrots 102 remain substantially longitudinally parallel with one another in the bag 120.

The support mechanism 128 may move downward continuously or may be indexed downwardly in discrete increments. In a preferred embodiment, the support mechanism 128 is operably coupled to a controller 142, such as a programmable logic controller (PLC), microcontroller, suitably programmed general purpose computer or other suitable device, which receives input from a sensor 144 that monitors the accumulator 108. The controller 142 can thereby monitor the rate at which carrots 102 flow into the accumulator 108 and control the downward movement of the support mechanism 128 accordingly. Also preferably, the accumulator gate 114 is also operably coupled to the controller 142, which may optionally close the accumulator gate 114 one or more times during the bag filling process, for example to accumulate more carrots 102 while the support mechanism 128 moves downwardly.

As can be seen by reference to FIGS. 1B to 1E, the support mechanism 128 moves downwardly in the external supporting configuration as more carrots 102 arrive, thereby supporting the carrots 102 progressively further distally from the mouth 118 of the bag 120 as more carrots 102 are fed into the bag 120.

After a predetermined quantity of carrots 102 (e.g. a desired weight or volume) has been fed into the bag 120, support may be withdrawn from the carrots 102 by pivoting the opposed ramps 130 to diverge their distal ends 132 away from one another to move the support mechanism 128 into the release configuration in which the support platform 134 is withdrawn, as shown in FIG. 1F. This releases the sidewalls 138 of the bag 120 to remove the constriction 140, and allows the bottom 126 of the bag 120 to come to rest on a surface 146, such as a conveyor for moving the filled bag 120 so that a new bag can be filled. After withdrawing support for the carrots 102 and releasing the sidewall 138 to remove the constriction 140, the mouth 118 of the bag 120 can be closed and optionally sealed.

Reference is now made to FIGS. 2 through 18, which show various aspects of one exemplary apparatus for automated bagging of carrots; the exemplary apparatus is indicated generally by reference 200. FIGS. 2 through 5 show overall views of the apparatus 200. The apparatus 200 comprises a main frame 202, a bag support 204, a bag opening mechanism 206, an accumulator 208, a support mechanism 210, a bag closer 212 and a supply conveyor system 214. The bag support 204, bag opening mechanism 206, accumulator 208, support mechanism 210 and bag closer 212 are all carried by the main frame 202. In the exemplary embodiment, the supply conveyor system 214 has its own independent conveyor frame 216 which can be coupled to and decoupled from the main frame 202; in other embodiments there may be only a single frame.

The bag support 204 is adapted to maintain a bag (not shown in FIGS. 2 through 18) in an upright configuration, and where side-seam bags are used the bag support may comprise a fixed pair of spaced-apart opposed posts 217 which extend from the main frame 202 and are fitted through correspondingly positioned holes in the upper leaves of a sheaf of bags.

Aspects of the bag opening mechanism 206 are shown in FIGS. 6, 6A and 6B and also FIG. 17. Reference is now made specifically to FIG. 6A. The bag opening mechanism 206 used in the exemplary apparatus comprises a bag opening arm assembly 218. The bag opening arm assembly 218 comprises a bag opening arm 220 supported by an arm carrier 222 which slides along a pair of parallel guide shafts 224 supported by the main frame 202. A bag-opening piston-cylinder assembly 226 acts between the main frame 202 and the arm carrier 222 and serves as an actuator to move the carrier along the guide shafts 224 and thereby move the bag opening arm 220 toward and away from the bag support 204. The bag opening arm 220 carries a plurality of suction cups 228 coupled in fluid communication with a vacuum assembly 230 for drawing a vacuum across the suction cups 228 to enable the suction cups 228 to grip the surface of a bag held by the bag support. The suction cups 228 are accordion-like in structure and are formed from a resilient material, and each include a respective mesh (not shown) extending across their inlet to prevent ingress of detritus. The bag opening arm 220 also carries a pair of spaced-apart corner-fingers 232 that can pivot relative to the bag opening arm 220 between an engaged position, as shown in the drawing, and a disengaged position. In the illustrated embodiment, the corner fingers 232 are fixed to a finger shaft 234 that is rotatably carried by the bag opening arm 220 and actuated by a finger piston-cylinder assembly 236 acting between the bag opening arm 220 and the finger shaft 234. The corner fingers 232, finger shaft 234 and finger piston-cylinder assembly 236 are not shown in the other drawings.

With reference is now specifically to FIG. 6B, the bag opening mechanism 206 used in the exemplary apparatus further comprises a gripper assembly 238 which assists in maintaining the mouth of a bag in an open condition by gripping the upper edges of the bag between the bag opening arm 220 and the bag support 204. The gripper assembly 238 also assists in feeding filled bags to the bag closer 212.

Broadly speaking, the gripper assembly 238 comprises a driven gripper arm 240 and a slave gripper arm 242 having respective driven gripper 244 and slave gripper 246. The driven gripper arm 240 is slidably received in a horizontal adjustment clamp 248 which slidably receives a horizontal adjustment bar 250 carried by a vertical adjustment clamp 252 which is in turn slidably received on a vertical adjustment post 254. Similarly, the slave gripper arm 242 is slidably received in a horizontal adjustment clamp 256 which slidably receives a horizontal adjustment bar 258 carried by a vertical adjustment clamp 260 which is in turn slidably received on a vertical adjustment post 262. The gripper arms 240, 242 are hollow and house concentrically nested cylinders which couple respective piston-cylinder assemblies 245A, 245B, 247A, 247B to the individual gripper elements 244A, 244B, 246A, 246B to open and close the grippers 244, 246.

In operation, when a bag is to be opened, the arm carrier 222 slides along the guide shafts 224, moving the bag opening arm 220 toward a sheaf of bags suspended from the bag support 204 until the suction cups 228 engage the surface of the bag. The vacuum assembly 230 draws a vacuum across the suction cups 228 to enable the suction cups 228 to grip the surface of one side of the bag, and the arm carrier 222 then reciprocates back along the guide shafts 224 and the corner-fingers 232 on the bag opening arm 220 pivot into the engaged position. As the arm carrier 222 reciprocates back along the guide shafts 224, it moves the bag opening arm 220 as well as the bag secured thereto by the vacuum drawn across the suction cups 220, away from the bag support 204 and pulls the sides of the bag apart and thereby opens the bag. A bag guard 261 assists in keeping the remaining bags in the sheaf of bags outside of the loading area below the accumulator 208. Once the mouth of the bag is open, four generally L-shaped corner formers 263 (see FIGS. 7, 8 and 9) pivot down into the open mouth of the bag to impart a generally rectangular shape to the mouth of the bag. Preferably, the rectangular shape of the mouth of the bag will be substantially co-extensive with the aperture of the accumulator 208. Once the corner formers 263 have pivoted into the mouth of the bag, the vacuum on the suction cups 228 is released. The grippers 244, 246 grasp the upper edges of the bag so that the mouth of the bag is held open. The side of the bag opposite the bag opening arm 220, that is, the side not engaged by the suction cups 228 and corner fingers 232, is held in place by the bag support 204. The corner formers 263 adjacent the corner fingers 232 are contoured to accommodate the corner fingers 232.

The vertical adjustment post 262 for the slave gripper arm 242 is mounted to a slave gripper carrier 264 which slides along two parallel slave gripper guide shafts 266 supported by the main frame 202 and thus the slave gripper arm 242 is carried by the slave gripper carrier 264. A pneumatic slave piston-cylinder assembly 268 is interposed between the slave gripper carrier 264 and the main frame 202.

Referring now to FIGS. 6 and 17, the vertical adjustment post 254 for the driven gripper arm 240 is mounted to a driven gripper carrier 270 which slides along two parallel driven gripper guide shafts 272 supported by the main frame. The driven gripper carrier 270 is mechanically coupled to a piston-cylinder assembly 271 (see FIG. 8; not shown in FIG. 6B) which reciprocates the driven gripper carrier 270 along the driven gripper guide shafts 272.

After a bag has been filled with carrots (or other cannulate objects), the corner formers 263 are pivoted upward, out of the mouth of the bag, and the corner-fingers 232 are pivoted into the disengaged position while the grippers 244, 246 retain their grip on the upper edge of the bag. Referring again to FIG. 6B, the piston-cylinder 271 assembly coupled to the driven gripper carrier 270 then begins to move the driven gripper carrier 270 away from the slave gripper carrier 264, which in turn moves the driven gripper 244 away from the slave gripper 246. Movement of the slave gripper 246 is resisted by air in the slave piston-cylinder assembly 270, which is bled off as the driven gripper carrier 270 moves, so that as the driven gripper 244 moves away from the slave gripper 246, the mouth of the bag is drawn closed until the upper edge of the bag mechanically couples the driven gripper 244 to the slave gripper 246 whereby the driven gripper 244 pulls the slave gripper 246 and the slave gripper carrier 264 along. The driven gripper 244 pulls the bag toward the bag closer 212, which may be a conventional dual-belt bag closer and is not described further. The pulling action of the driven gripper 244 also separates the bag, along a predefined perforation line, from the extension used to hang the bag from the bag support 204. Once the bag has been received at the bag closer 212, the piston-cylinder assembly 271 coupled to the driven gripper carrier 270 returns the driven gripper carrier to its starting position and the slave piston-cylinder assembly 268 likewise returns the slave gripper carrier 264 to its starting position.

As best seen in FIGS. 3, 4, 6, 8, 9, 10 and 12, in the exemplary illustrated embodiment, the accumulator 208 comprises an accumulator hopper 274 and an accumulator gate 276. The accumulator hopper 274 is disposed above the bag opening mechanism 206 to be in registration with the support mechanism 210, which will be in registration with the open mouth of the bag, and the accumulator gate 276 is disposed between the accumulator hopper 274 and the support mechanism 210 and hence will be disposed between the accumulator hopper 274 and the open mouth of the bag.

As noted above, the accumulator gate 276 is movable between an open configuration in which the carrots (or other cannulate objects) can fall from the accumulator hopper 274 to the open mouth of the bag and a closed configuration in which the carrots (or other cannulate objects) are retained inside the accumulator hopper 274. In the illustrated embodiment, the accumulator gate 276 comprises a pair of opposed doors 278 that are pivotable toward and away from one another to define the closed and open configurations, respectively; suitable actuators (e.g. piston-cylinder assemblies) are used to control movement of the doors 278. In the closed configuration, the doors 278 taper downwardly and inwardly.

The accumulator hopper 274 has an open side 280 for receiving carrots (or other cannulate objects) from the supply conveyor system 214, and is formed by two opposed removable sidewalls 282 and a removable back wall 284 disposed opposite the open side 280, in addition to the doors 278 of the accumulator gate 276. The volume of the accumulator hopper 274 can be changed by using sidewalls 282 and back walls 284 of different dimensions. To accommodate changes in the dimensions of the accumulator hopper 274, the doors 278 of the accumulator gate 276 can likewise be switched out for doors of different sizes or, as shown in the drawings, can be provided with extension fingers 282. The extension fingers 282 allow the same set of doors 278 to accommodate different dimensions of the accumulator hopper 274; for smaller dimensions the doors 278 can be moved closer together so that the extension fingers 282 interdigitate and for larger dimensions the doors 278 can be moved further apart. Different dimensions/volumes of the accumulator hopper 274 allow bags of different sizes to be filled with different weights/volumes of carrots (e.g. 25 pound bags and 50 pound bags may be accommodated) or other cannulate objects.

Reference is now made to FIGS. 8 to 17, which show various aspects of an exemplary embodiment of a support mechanism 210. As noted above, the support mechanism 210 is carried by the frame and is movable between an external supporting configuration and a release configuration. In the external supporting configuration the support mechanism 210 forms a support platform, externally of the bag, between the mouth of the bag and a bottom of the bag, which is adapted to support carrots (or other cannulate objects) within the bag, and in the release configuration the support platform is withdrawn. In FIGS. 2 to 18, the support mechanism 210 is shown in the external supporting configuration.

The exemplary support mechanism 210 comprises a support gate 286 formed by opposed support ramps 288 that are movable toward and away from one another by pivoting the opposed ramps to converge distal ends 290 of the support ramps 288 toward, and diverge distal ends 290 of the support ramps 288 away from, one another. As can be seen in the Figures, when the support mechanism 210 is in the external supporting configuration, the support ramps 288 decline from the pivot ends 292 thereof to the distal ends 290 thereof and form a support platform. In the illustrated embodiment, the support ramps 288 comprise a plurality of parallel rollers; in other embodiments the ramps may be smooth-surfaced without rollers.

Preferably, the support mechanism 210 is vertically movable relative to the frame 202, while in the external supporting configuration, toward and away from the bag opening mechanism 206. In the illustrated embodiment, the support ramps 288 are pivotally carried by an elevator 294 that rides along elevator guide rails 296 supported by the frame 202 and is actuated by an elevator piston-cylinder assembly 298 acting between the elevator 294 and the frame 202. Ramp actuators in the form of piston-cylinder assemblies 299 act between the support ramps 288 and the elevator 294 to pivot the support ramps 288 between the external supporting configuration and the release configuration.

Although not shown in the drawings, the support mechanism 210 preferably includes bag forming plates that can be moved between an engaged position to provide support for the bag during filling, and a disengaged position allowing the bag to be removed. For example, the bag forming plates may be pivoted between the engaged position and the disengaged position. In the engaged position, the bag forming plates are arranged in opposed relation, spaced from one another on either side of the support ramps 288, substantially parallel to one another and to the sidewalls 282 of the accumulator hopper 274, and substantially perpendicular to the longitudinal direction of the carrots (or other cannulate objects). Thus, the support ramps 288 can descend between the opposed bag forming plates, and the bag forming plates and the support ramps 288 cooperate to provide support and structure around the bag during filling. After the bag is filled, the bag forming plates can be moved to the disengaged position. In the disengaged position, the bag forming plates may be pivoted 90 degrees relative to the engaged position so that they are substantially parallel to the back wall 284 of the accumulator hopper 274 and to the longitudinal direction of the carrots (or other cannulate objects). In this position, the bag forming plates will not obstruct removal of the filled bags.

In the illustrated embodiments, filled bags are moved from the loading position underneath the accumulator 208 by a transfer conveyor system 300. The transfer conveyor system 300 comprises a loading conveyor 302 disposed underneath the accumulator 208, a variable-speed intermediate conveyor 304 disposed adjacent the loading conveyor 302 opposite the elevator 294, and an exit conveyor 306 disposed adjacent the intermediate conveyor 304. Guide walls 308 extend along the exit conveyor 306; in the disengaged position the bag forming plates may be substantially parallel to the guide walls 308.

The exemplary implementation of the supply conveyor system 214 will now be described with reference to FIGS. 2 to 4, 8 and 12 to 14. The supply conveyor system 214 comprises a flexible endless-loop conveyor belt 310 ascending to communicate with the accumulator hopper 274 through the open side 280 thereof. A drive mechanism comprising a drive motor 312 is mechanically coupled to the conveyor belt 310, for example by belt or by chain and sprocket, and is adapted to drive the conveyor belt 310. A pair of spaced-apart, substantially parallel confining sidewalls 314 extend along sides of the conveyor belt 310, which has a plurality of spaced-apart, widthwise-extending flights 316 extending therefrom. An agitator mechanism is mechanically coupled to the conveyor belt 310 and adapted to shake (e.g. vibrate) the conveyor belt 310 while the conveyor belt 310 ascends. This shaking action causes the carrots (or other cannulate objects) to fall so that they are supported lengthwise by the flights 316 (i.e. the carrot's longitudinal axis is substantially parallel to the flights). In the illustrated embodiment, the agitator mechanism comprises an agitator drive motor 318 which is mechanically coupled, for example by belt or by chain and sprocket, to a plurality of spaced apart belt agitation rollers 320. As best seen in FIGS. 8 and 14, the belt agitation rollers 320 are generally square in cross section, and as the belt agitation rollers 320 rotate they bump the underside of the conveyor belt 310; the plurality of belt agitation rollers 320, when rotated at sufficient speed, cause the conveyor belt 310 to shake. This is merely one example of an agitator mechanism; other types of agitation mechanism can also be used.

A plurality of spaced-apart arrestor flaps 322 extend between the confining sidewalls 314 and depend beyond the flights 316 on the conveyor belt 312. In the illustrated embodiment, the arrestor flaps 322 are substantially rigid and are pivotally suspended from the confining sidewalls 314; this allows the flights 316 to move past the arrestor flaps 322 as the conveyor belt 310 ascends by pivoting the arrestor flaps 322 forward. At the same time, the arrestor flaps 322 will arrest carrots (or other cannulate objects) that surmount one of the flights 316 because such carrots will strike one of the arrestor flaps 322, and the arrestor flap 322 will be prevented from pivoting downward because its lower edge will be caught by one of the flights 316, which will tend to deposit that carrot on the conveyor belt 310 above the flight 316. Preferably, ascendingly inwardly tapered guide ramps 324 are disposed on the inner surfaces of the confining sidewalls 314, spaced upwardly from the conveyor belt 310 with clearance for the flights 316 to pass underneath. Where carrots (or other cannulate objects) fall on top of a first layer of carrots on the conveyor belt 310 in orientations other than with the carrot's longitudinal axis substantially parallel to the flights 316, the guide ramps urge the carrots to rotate until their longitudinal axis is substantially parallel to the flights 316.

As noted above, in exemplary embodiments the support mechanism is operably coupled to a controller. Many or all of the components of the apparatus described herein may be coupled to and under the control of a suitable controller, which may receive input from a wide range of sensors monitoring the positions of various components and conditions (e.g. rate of input of carrots or other cannulate objects, etc.) affecting the apparatus. Implementation of such sensors and control systems is within the capability of one skilled in the art, now informed by the present disclosure, and therefore is not described further.

One or more currently preferred embodiments have been described by way of example. It will be apparent to persons skilled in the art that a number of variations and modifications can be made without departing from the scope of the claims. 

What is claimed is:
 1. A method for automated bagging of cannulate objects, comprising: arranging a plurality of cannulate objects to be substantially longitudinally parallel with one another; opening a mouth of a bag having opposed sidewalls and maintaining the mouth in an open configuration in which the sidewalls are spaced from one another at the mouth of the bag; tapering the bag toward the bottom thereof by converging the sidewalls of the bag to form a longitudinally-extending externally supported constriction disposed between the mouth of the bag and the bottom of the bag, wherein the externally supported constriction is narrower than the open mouth of the bag and the cannulate objects remain confined above the constriction; and feeding the plurality of cannulate objects into the mouth of the bag, wherein the cannulate objects are fed into the mouth of the bag longitudinally parallel with the constriction; and while feeding the plurality of cannulate objects into the mouth of the bag, lowering the constriction toward the bottom of the bag; whereby the cannulate objects remain substantially longitudinally parallel with one another in the bag.
 2. The method of claim 1, further comprising: after filling the bag to a predetermined quantity of cannulate objects, releasing the sidewall to remove the constriction.
 3. The method of claim 2, further comprising: after releasing the sidewall to remove the constriction, closing the mouth of the bag.
 4. The method of claim 1, further comprising: accumulating the cannulate objects above the bag while opening the mouth of the bag.
 5. A method for arranging a plurality of cannulate objects to be substantially longitudinally parallel with one another, the method comprising: depositing the cannulate objects onto an ascending conveyor belt; the conveyor belt having a plurality of spaced-apart, widthwise-extending flights; and shaking the conveyor belt while the conveyor belt ascends so that the cannulate objects are supported lengthwise by the flights.
 6. The method of claim 5, further comprising: arresting falling cannulate objects that surmount the flights.
 7. The method of claim 1, wherein the cannulate objects are carrots.
 8. A method for automated bagging of cannulate objects, comprising: arranging a plurality of cannulate objects to be substantially longitudinally parallel with one another; opening a mouth of a bag; feeding the plurality of cannulate objects into the mouth of the bag, wherein the cannulate objects are fed into the mouth of the bag substantially longitudinally parallel with one another; externally of the bag, supporting the cannulate objects inside the bag between the mouth of the bag and a bottom of the bag to limit fall travel of the cannulate objects within the bag and thereby maintain the cannulate objects substantially longitudinally parallel with one another inside the bag.
 9. The method of claim 8, wherein supporting the cannulate objects inside the bag comprises supporting the cannulate objects progressively further distally from the mouth of the bag as more cannulate objects are fed into the bag.
 10. The method of claim 9, further comprising withdrawing support from the cannulate objects after a predetermined quantity of cannulate objects have been fed into the bag.
 11. The method of claim 8, wherein the cannulate objects are carrots.
 12. Apparatus for automated bagging of cannulate objects, comprising: a frame; a bag support carried by the frame and adapted to maintain a bag in an upright configuration; a bag opening mechanism carried by the frame and adapted to open a mouth of the bag and maintain the mouth of the bag in an open configuration; a support mechanism carried by the frame, the support mechanism being movable between: an external supporting configuration forming a support platform, externally of the bag, between the mouth of the bag and a bottom of the bag; and a release configuration in which the support platform is withdrawn, wherein the support platform is adapted to support cannulate objects within the bag when the support mechanism is in the external supporting configuration.
 13. The apparatus of claim 12, wherein the support mechanism is vertically movable relative to the frame toward and away from the bag opening mechanism while in the external supporting configuration.
 14. The apparatus of claim 13, wherein the support mechanism comprises a support gate formed by opposed ramps that are movable toward and away from one another.
 15. The apparatus of claim 14, wherein the opposed ramps are movable toward and away from one another by pivoting the opposed ramps to converge distal ends of the ramps toward and diverge distal ends of the ramps away from one another.
 16. The apparatus of claim 15, wherein, when the support mechanism is in the external supporting configuration, the ramps decline from pivot ends thereof to the distal ends thereof.
 17. The apparatus of claim 12, further comprising an accumulator, comprising: an accumulator hopper disposed above the bag opening mechanism to be in registration with the open mouth of the bag; and an accumulator gate disposed between the accumulator hopper and the open mouth of the bag, the accumulator gate being movable between: an open configuration in which the cannulate objects can fall from the accumulator hopper to the open mouth of the bag; and a closed configuration in which the cannulate objects are retained inside the accumulator hopper.
 18. The apparatus of claim 17, further comprising: an endless-loop conveyor belt ascending to communicate with the accumulator hopper; a drive mechanism coupled to the conveyor belt and adapted to drive the conveyor belt; confining sidewalls extending along sides of the conveyor belt; the conveyor belt having a plurality of spaced-apart, widthwise-extending flights; and an agitator mechanism mechanically coupled to the conveyor belt and adapted to shake the conveyor belt while the conveyor belt ascends so that the cannulate objects are supported lengthwise by the flights.
 19. The apparatus of claim 18, further comprising arrestor flaps extending between the confining sidewalls and depending beyond the flights on the conveyor belt; the arrestor flaps adapted to: permit ascending passage of the flights therepast; and arrest cannulate objects that surmount the flights.
 20. The apparatus of claim 19, further comprising ascendingly inwardly tapered guide ramps disposed on inner surfaces of the confining sidewalls.
 21. The apparatus of claim 12, further comprising the bag. 